Header header

uint8 mode
uint8 numOfMotor # 1(only j7(gripper))     6(j1-j6)  7(j1-j7) (while interpolyReq=3 auto set numOfCmd=7)
uint8 interpolyReq # 0(default control motor directly)    1(internal default method)    10(internal linear interpolation)
float64 joint1 # j1/deg       
float64 joint2 # j2/deg       
float64 joint3 # j3/deg        
float64 joint4 # j4/deg       
float64 joint5 # j5/deg       
float64 joint6 # j6/deg       
float64 joint7 # j7/deg        
float64 poseX # mm       
float64 poseY # mm       
float64 poseZ # mm       

float64 EulerX # deg       
float64 EulerY # deg        
float64 EulerZ # deg        